JP2023150413A - Operation support method, operation support system, and operation support program - Google Patents

Abstract

To provide an operation support method capable of improving convenience of an operation terminal that displays information related to traveling of a work vehicle, an operation support system, and an operation support program.SOLUTION: A display processing unit 711 causes a work screen D1 to be displayed in an operation device 17 used for automatic traveling of a work vehicle 10. The display processing unit 711 causes a display region A0 included in the work screen D1 to display travel information G0 related to a position of the work vehicle 10. A setting processing unit 713 switches between setting of causing display regions A1 to A4 included in the work screen D1 to display travel information G0 to G4 related to a travel state of the work vehicle 10 and setting of causing the display regions A1 to A4 not to display the travel information G0 to G4.SELECTED DRAWING: Figure 9

Description

The present invention relates to an operation support method, an operation support system, and an operation support program that support operations by an operator on an operation terminal used for running a work vehicle.

2. Description of the Related Art There is a known technique for displaying guidance information, driving information, etc. related to automatic driving on a display device when a work vehicle automatically travels in a field (for example, see Patent Document 1).

JP 2019-127119 Publication

However, in the conventional technology, the information is uniformly displayed on the display device, so even if the information is useful for one user (operator), it may be unnecessary for other users. For example, experienced operators find it bothersome when guidance information is constantly displayed. As described above, in the conventional technology, a problem arises in that the operating terminal that displays information regarding the travel of the work vehicle is inconvenient.

An object of the present invention is to provide an operation support method, an operation support system, and an operation support program that can improve the convenience of an operation terminal that displays information regarding traveling of a work vehicle.

The operation support method according to the present invention includes displaying a display screen on an operation terminal used for running a work vehicle, and displaying first information regarding the position of the work vehicle in a first display area included in the display screen. and switching between a setting for displaying second information regarding the traveling state of the work vehicle in a second display area included in the display screen and a setting for not displaying the second information in the second display area. and execute.

The operation support system according to the present invention includes a first display processing section, a second display processing section, and a setting processing section. The first display processing section causes a display screen to be displayed on an operation terminal used for driving the work vehicle. The second display processing section displays first information regarding the position of the work vehicle in a first display area included in the display screen. The setting processing unit switches between a setting for displaying second information regarding the traveling state of the work vehicle in a second display area included in the display screen and a setting for not displaying the second information in the second display area. .

The operation support program according to the present invention displays a display screen on an operation terminal used for traveling operation of a work vehicle, and displays first information regarding the position of the work vehicle in a first display area included in the display screen. and switching between a setting for displaying second information regarding the traveling state of the work vehicle in a second display area included in the display screen and a setting for not displaying the second information in the second display area. This is an operation support program for causing one or more processors to execute the following.

According to the present invention, it is possible to provide an operation support method, an operation support system, and an operation support program that can improve the convenience of an operation terminal that displays information related to traveling of a work vehicle.

FIG. 1 is a block diagram showing the configuration of a work vehicle according to an embodiment of the present invention. FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. FIG. 3 is an external view showing an example of the operating device according to the embodiment of the present invention. FIG. 4 is a diagram showing an example of a target route of a work vehicle according to an embodiment of the present invention. FIG. 5A is a diagram for explaining an automatic traveling method in a work vehicle according to an embodiment of the present invention. FIG. 5B is a diagram for explaining an automatic traveling method in a work vehicle according to an embodiment of the present invention. FIG. 5C is a diagram for explaining an automatic traveling method in a work vehicle according to an embodiment of the present invention. FIG. 6A is a diagram showing an example of a work screen displayed on the operating device according to the embodiment of the present invention. FIG. 6B is a diagram showing an example of a work screen displayed on the operating device according to the embodiment of the present invention. FIG. 7 is a diagram showing the configuration of a work screen displayed on the operating device according to the embodiment of the present invention. FIG. 8 is a diagram showing an example of a work screen displayed on the operating device according to the embodiment of the present invention. FIG. 9 is a diagram showing an example of a work screen displayed on the operating device according to the embodiment of the present invention. FIG. 10A is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. FIG. 10B is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. FIG. 11A is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. FIG. 11B is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. FIG. 12A is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. FIG. 12B is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. FIG. 12C is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. FIG. 13A is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. FIG. 13B is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. FIG. 13C is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. FIG. 14 is a flowchart illustrating an example of the procedure of operation support processing executed by the operating device according to the embodiment of the present invention. FIG. 15A is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. FIG. 15B is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. FIG. 15C is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. FIG. 16 is a diagram showing an example of guidance information displayed on the operating device according to the embodiment of the present invention. FIG. 17A is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention. FIG. 17B is a diagram showing an example of a setting screen displayed on the operating device according to the embodiment of the present invention.

The following embodiment is an example embodying the present invention, and does not limit the technical scope of the present invention.

As shown in FIGS. 1 and 2, an automatic driving system 1 according to an embodiment of the present invention includes a work vehicle 10, a satellite 20, and a base station (not shown). In this embodiment, a case where the work vehicle 10 is a tractor will be described as an example. Note that in other embodiments, the work vehicle 10 may be a rice transplanter, a combine harvester, a construction machine, a snowplow, or the like. The work vehicle 10 performs a predetermined work (for example, plowing work) while traveling along a target route R in a field F (see FIG. 4) according to an operator's operation. Specifically, the work vehicle 10 travels straight along the target route R in response to automatic steering, and turns in response to manual steering (driving operation) by the operator. The work vehicle 10 performs work by traveling within the field F while switching between automatic travel on a straight route and manual travel on a turning route. The target route R may be generated in advance based on an operator's operation and stored as route data. Further, the work vehicle 10 may have a function to automatically increase or decrease the vehicle speed (vehicle speed control function). For example, the work vehicle 10 may automatically change the vehicle speed depending on the travel route.

The work vehicle 10 travels, for example, in a field F shown in FIG. 4, repeatedly traveling straight and turning until the work is completed. Each of the plurality of straight paths is substantially parallel to each other. The target route R shown in FIG. 4 is an example, and the target route R is appropriately determined according to the size of the work vehicle 10, the size of the work machine 14, the content of work, the shape of the field F, and the like.

Note that the automatic driving system 1 may include an operation terminal (tablet terminal, smartphone, etc.) operated by an operator. The operating terminal can communicate with the work vehicle 10 via a communication network such as a mobile phone line network, a packet line network, or a wireless LAN. For example, the operator performs an operation to register various information (work vehicle information, field information, work information, etc.) on the operating terminal. In addition, the operator can grasp the running status of the working vehicle 10, the working status, etc. from the running trajectory displayed on the operating terminal at a location away from the working vehicle 10.

[Work vehicle 10]
As shown in FIGS. 1 and 2, the work vehicle 10 includes a vehicle control device 11, a storage section 12, a traveling device 13, a working machine 14, a communication section 15, a positioning device 16, an operating device 17, and the like. The vehicle control device 11 is electrically connected to a storage unit 12, a traveling device 13, a working machine 14, a positioning device 16, an operating device 17, and the like. Note that the vehicle control device 11 and the positioning device 16 may be able to communicate wirelessly. Further, the vehicle control device 11 and the operating device 17 may be able to communicate wirelessly.

The communication unit 15 connects the work vehicle 10 to a communication network by wire or wirelessly, and performs communication for executing data communication according to a predetermined communication protocol with an external device (such as an operating terminal) via the communication network. It is an interface.

The storage unit 12 is a nonvolatile storage unit such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute automatic driving processing. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. Note that the automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via a communication network and stored in the storage unit 12. Furthermore, data of the target route R generated by the operating device 17 may be stored in the storage unit 12.

The traveling device 13 is a drive unit that causes the work vehicle 10 to travel. As shown in FIG. 2, the traveling device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a handle 137, and the like. Note that the front wheels 132 and the rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. Further, the traveling device 13 is not limited to a wheel type including front wheels 132 and rear wheels 133, but may be a crawler type including crawlers provided on the left and right sides of the work vehicle 10.

The engine 131 is a driving source such as a diesel engine or a gasoline engine that is driven using fuel supplied to a fuel tank (not shown). The traveling device 13 may include an electric motor as a drive source together with or in place of the engine 131. Note that a generator (not shown) is connected to the engine 131, and power is supplied from the generator to electrical components such as the vehicle control device 11 provided in the work vehicle 10, a battery, and the like. Note that the battery is charged by power supplied from the generator. Electrical components such as the vehicle control device 11, positioning device 16, and operating device 17 provided in the work vehicle 10 can be driven by the electric power supplied from the battery even after the engine 131 is stopped.

The driving force of engine 131 is transmitted to front wheels 132 via transmission 134 and front axle 135, and then transmitted to rear wheels 133 via transmission 134 and rear axle 136. Further, the driving force of the engine 131 is also transmitted to the working machine 14 via a PTO shaft (not shown). The traveling device 13 performs a traveling operation according to commands from the vehicle control device 11.

The work machine 14 is, for example, a tiller, a seeding machine, a mower, a plow, a fertilizer spreader, or the like, and is detachable from the work vehicle 10 . Thereby, the work vehicle 10 can perform various works using each of the work machines 14. FIG. 2 shows a case where the working machine 14 is a tiller. The work machine 14 may be supported in the work vehicle 10 so as to be movable up and down by a lift mechanism (not shown). The vehicle control device 11 is capable of raising and lowering the working machine 14 by controlling the lifting mechanism.

The handle 137 is an operating section operated by the operator or the vehicle control device 11. For example, the traveling device 13 changes the angle of the front wheels 132 using a hydraulic power steering mechanism (not shown) or the like in response to the operation of the handle 137 by the operator or the vehicle control device 11, thereby changing the traveling direction of the work vehicle 10.

In addition to the handle 137, the traveling device 13 includes a shift lever, an accelerator, a brake, etc. (not shown) that are operated by the vehicle control device 11. In the traveling device 13, the gear of the transmission 134 is switched to a forward gear or a reverse gear in response to the operation of the shift lever by the vehicle control device 11, and the traveling mode of the work vehicle 10 is switched to forward or reverse. . The vehicle control device 11 also controls the rotation speed of the engine 131 by operating the accelerator. Further, the vehicle control device 11 operates the brake to brake rotation of the front wheels 132 and the rear wheels 133 using electromagnetic brakes.

The positioning device 16 is a communication device that includes a positioning control section 161, a storage section 162, a communication section 163, a positioning antenna 164, and the like. For example, as shown in FIG. 2, the positioning device 16 is provided in the upper part of a cabin 18 in which an operator rides. Furthermore, the installation location of the positioning device 16 is not limited to the cabin 18. Further, the positioning control unit 161, the storage unit 162, the communication unit 163, and the positioning antenna 164 of the positioning device 16 may be distributed and arranged at different positions in the work vehicle 10. Note that, as described above, the battery is connected to the positioning device 16, and the positioning device 16 can operate even when the engine 131 is stopped. Further, as the positioning device 16, for example, a mobile phone terminal, a smartphone, a tablet terminal, or the like may be used instead.

The positioning control unit 161 is a computer system including one or more processors and storage memories such as nonvolatile memory and RAM. The storage unit 162 is a nonvolatile memory that stores a positioning control program for causing the positioning control unit 161 to execute positioning processing, and data such as positioning information and movement information. For example, the positioning control program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. Note that the positioning control program may be downloaded from a server (not shown) to the positioning device 16 via a communication network and stored in the storage unit 162.

The communication unit 163 connects the positioning device 16 to a communication network by wire or wirelessly, and performs communication for performing data communication according to a predetermined communication protocol with an external device such as a base station server via the communication network. It is an interface.

The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from the satellite 20.

The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signal that the positioning antenna 164 receives from the satellite 20. For example, when the work vehicle 10 automatically travels in the field F, when the positioning antenna 164 receives radio waves (transmission time, orbit information, etc.) transmitted from each of the plurality of satellites 20, the positioning control unit 161 performs the positioning The distance between the satellite antenna 164 and each satellite 20 is calculated, and the current position (latitude and longitude) of the work vehicle 10 is calculated based on the calculated distance. Furthermore, the positioning control unit 161 uses a real-time kinematic method (RTK-GPS positioning method (RTK method) to calculate the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. )) positioning may be performed. In this way, the work vehicle 10 automatically travels using positioning information based on the RTK method. Note that the current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or may be a position shifted from the positioning position.

The operating device 17 is a device operated by an operator riding on the work vehicle 10, and displays various information and receives operations from the operator. Specifically, the operating device 17 displays various setting screens to accept various setting operations from the operator, and displays information regarding the traveling work vehicle 10. The specific configuration of the operating device 17 will be described later.

The vehicle control device 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit that stores in advance control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes. The RAM is a volatile or nonvolatile storage unit that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by causing the CPU to execute various control programs stored in advance in the ROM or the storage unit 12. Furthermore, the vehicle control device 11 uses the CPU to execute various processes according to the automatic driving program.

Specifically, the vehicle control device 11 controls the traveling of the work vehicle 10. For example, when the travel mode of the work vehicle 10 is manual travel (manual travel mode), the vehicle control device 11 causes the work vehicle 10 to travel manually based on an operator's operation (manual steering). For example, the vehicle control device 11 acquires operation information corresponding to a driving operation such as a steering wheel operation, a speed change operation, a shift operation, an accelerator operation, and a brake operation by an operator, and instructs the traveling device 13 to perform a traveling operation based on the operation information. Let it run.

Furthermore, when the travel mode of the work vehicle 10 is automatic travel (automatic travel mode), the vehicle control device 11 is configured to operate the vehicle control device 11 based on position information (positioning information) indicating the current position of the work vehicle 10, which is determined by the positioning control unit 161. The work vehicle 10 is caused to travel automatically. For example, when the work vehicle 10 satisfies the automatic travel start condition and receives a travel start instruction from the operator, the vehicle control device 11 causes the work vehicle 10 to start automatic travel based on the positioning information. Further, the vehicle control device 11 causes the work vehicle 10 to automatically travel according to a target route R (straight route) generated in advance.

Here, a specific example of automatic driving (first driving pattern) according to the present embodiment will be described with reference to FIGS. 5 and 6. In this embodiment, the work vehicle 10 is caused to automatically travel along a straight path in a field F shown in FIG. 4 .

First, the operator sets a reference line L1 for generating a straight route that is the target route R. For example, the operator manually causes the work vehicle 10 to travel in a direction (target direction) in which the work vehicle 10 wants to travel and work at an arbitrary position (for example, at the outer peripheral edge) in the field F. Specifically, the operator causes the work vehicle 10 to travel straight in a direction parallel to the work direction (for example, the plowing direction) when the work vehicle 10 works in the work area. Then, while manually driving the work vehicle 10 in the intended target direction, the operator operates the operation display section 73 (see FIG. 3) twice at an arbitrary position (for example, at the front and rear ends of the work area) (for example, touch operation). The vehicle control device 11 registers the position of the work vehicle 10 (point A) by the operator's first operation, and registers the position of the work vehicle 10 (point B) by the operator's second operation. When the vehicle control device 11 acquires the position information of points A and B, it sets a straight line passing through points A and B as a reference line L1 (see FIG. 5A). Note that the vehicle control device 11 may be able to register the point B when the work vehicle 10 has traveled a predetermined distance (for example, 5 m) after registering the point A. Thereby, it is possible to set the reference line L1 with higher accuracy. The vehicle control device 11 generates a driving route (target route R) including a reference line L1 and a plurality of straight lines parallel to the reference line L1. For example, the vehicle control device 11 draws a plurality of parallel straight lines around the reference line L1 based on a preset working width (width of the work implement 14) and a lap width (width that overlaps with an adjacent worked area). They are generated at equal intervals on the left and right (see FIG. 5B). The vehicle control device 11 registers the generated target route R in the storage unit 12 and displays it on the operating device 17.

After the target route R is generated, when the operator automatically steers the work vehicle 10 to travel straight in the field F, the operator determines the direction (azimuth) of the work vehicle 10 while looking at the target route R displayed on the operating device 17. ) is within a predetermined range (predetermined azimuth) with respect to the direction of the reference line L1 (the automatic travel start condition is satisfied), the work vehicle 10 is moved by manual steering (see FIG. 5C).

FIG. 6A shows an operation screen (work screen) indicating that the work vehicle 10 has satisfied the automatic travel start conditions and is now in a state where it can travel automatically. When the work vehicle 10 satisfies the automatic travel start condition, the vehicle control device 11 causes the operation display section 73 to display the operation screen shown in FIG. 6A. When the work vehicle 10 is ready for automatic travel, the operator presses an automatic travel button (not shown) on the operation display section 73 to issue an instruction to start traveling. When the vehicle control device 11 receives the travel start instruction, it starts automatic steering of the work vehicle 10 so that the work vehicle 10 follows the straight path closest to the current position P0 (see FIG. 5C). Thereby, the vehicle control device 11 causes the work vehicle 10 to automatically travel along the straight path by automatic steering.

FIG. 6B shows a display screen (work screen) when the work vehicle 10 is automatically traveling. When the work vehicle 10 starts automatic travel, the vehicle control device 11 causes the operation device 17 to display a work screen shown in FIG. 6B. For example, the operation device 17 displays the position of the work vehicle 10, the straight route, the work completed area (work status), Display information such as guidance information (described later).

As described above, the first automatic travel pattern is such that the target route R is generated in advance according to the working width and lap width of the work vehicle 10 and the vehicle automatically travels. As the second automatic driving pattern, the target route R may be generated based on the position of the work vehicle 10 and the automatic driving may be performed.

In the second travel pattern, for example, after the reference line L1 is set (see FIG. 5A), when the operator moves the work vehicle 10 to the position where work is to be started and presses the automatic travel button, the vehicle control device 11: From this position, the work vehicle 10 is caused to travel straight parallel to the reference line L1 by automatic steering.

Note that the vehicle control device 11 may apply the first travel pattern and the second travel pattern according to the operator's selection operation. For example, the vehicle control device 11 causes the operating device 17 to selectably display a first route creation mode corresponding to the first travel pattern and a second route creation mode corresponding to the second travel pattern, and the operator selects the first route creation mode and the second route creation mode corresponding to the second travel pattern. Automatic driving may be performed using the route creation mode.

In the first travel pattern and the second travel pattern, the vehicle control device 11 also controls the vehicle control device 11 so that the work vehicle 10 travels straight ahead by automatic steering and passes through the terminal point Pe corresponding to the point B of the reference line L1 (passes the point B with respect to the reference line L1). When the operator reaches the intersection point of the perpendicular line and the straight path (straight line) (see FIG. 5C), the operator is notified (message display, voice guidance, etc.) of information indicating that the terminal Pe has been reached (guidance information to be described later). When the work vehicle 10 reaches the terminal end Pe, the operator ends the automatic steering.

When the work vehicle 10 reaches the terminal end Pe (the terminal end of the straight route), the vehicle control device 11 switches the traveling mode to manual traveling. The vehicle control device 11 may switch the travel mode to manual travel when determining that the work vehicle 10 has reached the terminal end Pe, or may switch the travel mode to manual travel in response to an operator's operation. When the travel mode is switched to manual travel, for example, the operator causes the work vehicle 10 to turn (manual travel) by manual steering.

As described above, the vehicle control device 11 switches the driving mode according to the operator's operation on the operating device 17, causes the work vehicle 10 to automatically travel along the straight route (target route R) by automatic steering, and automatically travels the work vehicle 10 along the straight route (target route R) by automatic steering. Manually travel the turning route.

By the way, conventionally, there is a known technique for displaying guidance information, driving information, etc. related to automatic driving on a display device (corresponding to the operating device 17 of this embodiment) to support operations by an operator. However, in the conventional technology, the information is uniformly displayed on the display device, so even if the information is useful for one user (operator), it may be unnecessary for other users. For example, experienced operators find it bothersome when guidance information is constantly displayed. As described above, in the conventional technology, a problem arises in that the operating terminal (operating device 17) that displays information regarding the travel of the work vehicle is inconvenient. On the other hand, according to the configuration of the present embodiment, it is possible to improve the convenience of the operating terminal (operating device 17) that displays information regarding the traveling of the work vehicle. The specific configuration of the operating device 17 will be described below.

[Operating device 17]
As shown in FIG. 1, the operating device 17 includes an operation control section 71, a storage section 72, an operation display section 73, and the like. The operating device 17 may be a device that can be attached to and detached from the work vehicle 10. Further, the operating device 17 may be a mobile terminal (tablet terminal, smartphone, etc.) that can be carried by the operator. Further, the operating device 17 is connected to the vehicle control device 11 so as to be communicable by wire or wirelessly.

The operation display unit 73 is a user interface that includes a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as an operation button or a touch panel that accepts operations. The operation display section 73 displays various setting screens, work screens, etc. according to instructions from the operation control section 71. Further, the operation display unit 73 receives operator operations on the setting screen and the work screen.

Further, the operation unit includes an automatic travel button through which an operator instructs the work vehicle 10 to start traveling when the work vehicle 10 starts automatic travel, and an offset operation (correction operation) that corrects a positional deviation between the work vehicle 10 and the target route R. and a plurality of selection buttons (none of which are shown) that perform selection operations on the setting screen and the work screen. The operating device 17 is an example of an operating terminal of the present invention.

The operating device 17 is installed near the handle 137 inside the cabin 18, as shown in FIGS. 2 and 3, for example.

The storage unit 72 is a nonvolatile storage unit such as an HDD or SSD that stores various information. The storage unit 72 stores control programs such as an operation support program for causing the operation device 17 to execute operation support processing (see FIG. 14), which will be described later. For example, the operation support program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 72. Note that the operation support program may be downloaded from a server (not shown) to the operating device 17 via a communication network and stored in the storage unit 72. Further, the operation support program may be stored in the storage unit 12 of the work vehicle 10. Further, data of the target route R generated by the operating device 17 may be stored in the storage unit 72.

The operation control unit 71 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit that stores in advance control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes. The RAM is a volatile or nonvolatile storage unit that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The operation control unit 71 controls the operating device 17 by executing various control programs stored in advance in the ROM or storage unit 72 on the CPU.

Specifically, as shown in FIG. 1, the operation control section 71 includes various processing sections such as a display processing section 711, a reception processing section 712, and a setting processing section 713. Note that the operating device 17 functions as the various processing units by causing the CPU to execute various processes according to the operation support program. Further, a part or all of the processing section may be constituted by an electronic circuit. Note that the operation support program may be a program for causing a plurality of processors to function as the processing units.

The display processing section 711 causes the operation display section 73 to display various information. For example, the display processing unit 711 displays a setting screen (FIG. 10 to FIG. 13, etc.) for making various settings, a work screen D1 (FIG. 8, FIG. 9, etc.) including traveling information such as the traveling status and work status of the work vehicle 10. etc. are displayed on the operation display section 73. The display processing section 711 is an example of the first display processing section and the second display processing section of the present invention.

The reception processing unit 712 receives various operations by an operator. For example, the reception processing unit 712 receives an operation from the operator to set a display target (driving information) to be displayed on the work screen D1 on the setting screen.

Here, the specific configuration of the work screen D1 will be explained. FIG. 7 shows a plurality of display areas A0 to A4 set on the work screen D1. The operation control unit 71 sets display areas A0 to A4 in advance on the display screen (work screen D1). The display area A0 is the entire area in which the position of the work vehicle 10, the target route R, etc. can be displayed. Display area A0 includes a plurality of display areas A1 to A4. For example, display area A1 is arranged on the lower side of display area A0, display area A2 and display area A3 are arranged vertically on the left side of display area A0, and display area A4 is arranged on the right side of display area A0. Placed. In this way, display areas A1 to A4 are arranged to partially overlap display area A0. The arrangement positions of display areas A1 to A4 are not limited to the positions shown in FIG. 7. Furthermore, the arrangement positions and ranges of the display areas A1 to A4 may be changeable according to an operation by an operator. Further, each of the display areas A0 to A4 may be arranged so as not to overlap each other.

In the work screen D1, text information representing the running status of the work vehicle 10 (for example, "running with straight-ahead assist") is displayed in the upper part of the display areas A0 to A4. Further, in the display area A5 at the top of the work screen D1, icon images representing the traveling status, setting status, etc. of the work vehicle 10 are displayed.

For example, the icon image C1 is an image representing whether or not the function of instructing to start automatic travel is linked to an operating tool (for example, a lift lever of the working machine 14). When the icon image C1 is lit, for example, when the operator lowers the lift lever, the work vehicle 10 starts automatic travel and lowers the work implement 14 to start work. When the icon image C1 is off, even if the operator lowers the lift lever, the work vehicle 10 does not start automatic travel and only performs the operation of lowering the work implement 14. The operator may perform an operation (ON/OFF operation) to determine whether or not to link the automatic travel start function with the operating tool on the setting screen (not shown) or in the selection section Ks of the work screen D1. good.

The icon image H1 is an image that displays a correction amount (offset amount) when the operator performs an offset operation (correction operation) to correct the positional deviation between the work vehicle 10 and the target route R. When the operator performs an operation to offset the work vehicle 10 to the right side on the operation display section 73, the offset amount is displayed on the right icon image HR, and when the operator performs an operation to offset the work vehicle 10 to the left side on the operation display section 73, the offset amount is displayed on the right icon image HR. , the offset amount is displayed on the left icon image HL.

The icon image C2 is an image representing that the work vehicle 10 that is automatically traveling reaches the end point (terminal end Pe (see FIG. 5C)) of the straight path. When the work vehicle 10 approaches the end point, the icon image C2 lights up.

The icon image C3 is an image representing the state of positioning accuracy (positional accuracy) of the work vehicle 10. The icon image C3 is displayed in a color depending on the state of positioning accuracy, for example. That is, the display processing unit 711 may change the display mode of each icon image depending on the traveling state of the work vehicle 10.

Here, the setting processing unit 713 sets the display target (driving information) for each of the display areas A1 to A4. Specifically, when the reception processing unit 712 receives an operation from the operator to select a display target for a display area on the setting screen, the setting processing unit 713 performs a process of registering the display target selected by the operator in association with the display area. Execute. The display processing section 711 causes the operation display section 73 to display the work screen D1 based on the setting information set (registered) by the setting processing section 713.

8 and 9 show an example of the work screen D1 when the work vehicle 10 is automatically traveling. In the work screen D1 shown in FIG. 8, the position of the work vehicle 10 with respect to the target route R (straight route), the target route R (a plurality of parallel lines), and the point B corresponding to the end point are displayed in the display area A0 (see FIG. 7). Driving information G0 including such information is displayed, and no driving information is displayed in display areas A1 to A4 (see FIG. 7). The display processing unit 711 displays traveling information G0 (first information) regarding the position of the work vehicle 10 in the display area A0.

On the other hand, on the work screen D1 shown in FIG. 9, travel information G0 including the position of the work vehicle 10, target route R, point B, work completed area, etc. is displayed in the display area A0, and the work information G0 is displayed in the display area A1. Travel information G1 representing the positional deviation between the vehicle 10 and the target route R is displayed, travel information G2 representing the vehicle speed of the work vehicle 10 is displayed in the display area A2, and travel information G2 representing the lap width of the work vehicle 10 is displayed in the display area A3. Information G3 is displayed, and traveling information G4 (guidance information, operation guidance information) indicating that the work vehicle 10 is approaching the end point is displayed in the display area A4. Note that the display processing unit 711 displays the position deviation K0 ("16 cm" in FIG. 9) in the travel information G1 based on the position information acquired from the vehicle control device 11, and determines the magnitude and direction of the position deviation K0. (left side in FIG. 9) is displayed. In this way, the display processing unit 711 displays the travel information G0 at the center of the work screen D1 in the display area A0, displays the travel information G1 at the lower center of the work screen D1 in the display area A0, and displays the travel information G1 in the center of the work screen D1 in the display area A0. Travel information G2 and travel information G3 are displayed on the left side of the center of the work screen D1 in , and travel information G4 is displayed on the right side of the center of the work screen D1 in the display area A0.

According to the work screen D1 shown in FIG. 9, various traveling information G1 to G4 is displayed in the display areas A1 to A4, and therefore the information is useful for, for example, an inexperienced operator. Therefore, since the operator can appropriately operate the work vehicle 10, work accuracy can be improved. On the other hand, according to the work screen D1 shown in FIG. 8, since the travel information G1 to G4 is not displayed in the display areas A1 to A4, it is possible to reduce, for example, an experienced operator from feeling bothered by unnecessary information. . Note that when displaying the driving information G1 to G4, the operation control unit 71 may output audio (voice guidance) of content corresponding to the driving information G1 to G4. For example, the operation control unit 71 outputs the display contents audibly for the driving information G4 at the timing when the display contents are switched, and for the driving information G1 to G3, the timing when the set value is changed and the amount of change exceeds a predetermined amount. The displayed content may be outputted as audio at the timing when the display content is changed or when the display content is switched.

In this way, the setting processing unit 713 sets the display areas A1 to A4 included in the work screen D1 to display the driving information G1 to G4 regarding the driving state of the work vehicle 10, and the display areas A1 to A4 to display the driving information G1 to G4. It is possible to switch between setting and not displaying G4.

In addition, the reception processing unit 712 performs an operation for setting the display areas A1 to A4 to display the driving information G1 to G4 (first setting operation), or a setting not to display the driving information G1 to G4 in the display areas A1 to A4. It is possible to receive an operation to perform (second setting operation) from the operator.

Further, when the first setting operation is received from the operator, the setting processing unit 713 causes the travel information G0 to be displayed in the display area A0 and the travel information G1 to G4 to be displayed in the display areas A1 to A4, while the operator It is possible to configure such a configuration that when the second setting operation is received from , the driving information G0 is displayed in the display area A0, and the driving information G1 to G4 is not displayed in the display areas A1 to A4.

According to the operating device 17 according to the present embodiment, the operator can freely customize the display contents of the work screen D1, so that the convenience and operability of the operating device 17 can be improved. Note that the display area A0 is an example of the first display area of the present invention, the display areas A1 to A4 are examples of the second display area of the present invention, and the display area A5 is an example of the third display area of the present invention. be. Further, the traveling information G0 is an example of first information of the present invention, and the traveling information G1 to G4 are examples of second information of the present invention.

[Specific example of setting method]
Next, a specific example of a setting method for setting display objects (driving information) for the display areas A1 to A4 of the work screen D1 will be described.

FIG. 10A shows an example of the setting screen P1. For example, when an operator selects a display setting (not shown) on a menu screen when performing a setting operation for a display target, the display processing unit 711 displays a setting screen P1. The setting screen P1 includes a setting item (“work history”) for selecting whether or not to display the completed work area (see travel information G0 in FIG. 9) in the display area A0 (see FIG. 7), Setting item K11 ("Display amount of deviation") is used to select whether or not to display positional deviation K0 (traveling information G1 in Figure 9) in the display area A4 (see Figure 7), and guidance information (operation guidance information) is displayed in the display area A4 (see Figure 7). ) (driving information G4 in FIG. 9) is included. The operator can move the selection position and display page of the setting item by pressing the operation button K1, select the setting item by pressing the enter button K2, and press the return button K3. By pressing the button, the displayed page can be moved to the previous page. Each of the buttons K1 to K3 is an example of the operation section in the operation display section 73.

When the operator selects setting item K11, display processing unit 711 displays setting screen P11 shown in FIG. 10B. The display processing unit 711 displays, on the setting screen P11, a selection field for selecting ON/OFF of the display of the positional deviation K0 and explanatory information regarding the positional deviation K0. If the operator desires to display the traveling information G1 (see FIG. 9) regarding the positional deviation K0 on the work screen D1, the operator selects ON and presses the determination button K2. On the other hand, if the operator does not wish to display the driving information G1 on the work screen D1, he selects OFF and presses the determination button K2. Note that the operation in which the operator selects ON is an example of the first setting operation of the present invention, and the operation in which the operator selects OFF is an example of the second setting operation of the present invention.

When the reception processing unit 712 receives a selection operation from the operator, the setting processing unit 713 sets the display content of the display area A1 based on the selection operation (ON/OFF operation). In the example shown in FIG. 10B, since the operator has selected ON, the setting processing unit 713 registers the travel information G1 in association with the display area A1.

Subsequently, when the operator returns to the setting screen P1 (see FIG. 11A) and selects the setting item K12 corresponding to the traveling information G4 (see FIG. 9) in the display area A4 (see FIG. 7), the display processing section 711 A setting screen P12 shown in FIG. 11B is displayed. The display processing unit 711 displays, on the setting screen P12, a selection column for selecting ON/OFF of the display of the driving information G4 and explanatory information regarding the driving information G4. If the operator desires to display the travel information G4 (see FIG. 9) on the work screen D1, the operator selects ON and presses the enter button K2. On the other hand, if the operator does not wish to display the driving information G4 on the work screen D1, he selects OFF and presses the determination button K2.

When the reception processing unit 712 receives the operator's selection operation, the setting processing unit 713 sets the display content of the display area A4 based on the selection operation (ON/OFF operation). In the example shown in FIG. 11B, since the operator has selected ON, the setting processing unit 713 registers the travel information G4 in association with the display area A4.

Subsequently, when the operator returns to the setting screen P1 (see FIG. 10A) and presses the operation button K1 to scroll the page, the display processing unit 711 displays the setting screen P2 shown in FIG. 12A. The setting screen P2 includes a setting item K21 (“Information Display 1”) for selecting whether to display the traveling information G2 (see FIG. 9) in the display area A2 (see FIG. 7) and the display target to be displayed in the display area A2. ), setting item K22 (``information display 2'') for selecting whether or not to display driving information G3 (see FIG. 9) in display area A3 (see FIG. 7) and the display target to be displayed in display area A3. It will be done.

When the operator selects setting item K21, display processing unit 711 displays setting screen P21 shown in FIG. 12B. The display processing unit 711 displays, on the setting screen P21, a selection field for selecting OFF of the display of the travel information G2, a selection field for a plurality of display targets, and explanatory information corresponding to each selection field. The plurality of display targets include "vehicle speed", "work width", "lap width", "route azimuth", "vehicle direction" (see FIG. 12C), and the like. Note that the "vehicle direction angle" is displayed on the next page (see FIG. 12C) after the display page shown in FIG. 12B. Here, the operator selects the "vehicle speed" setting item K23 and presses the enter button K2. When the reception processing unit 712 receives the operator's selection operation, the setting processing unit 713 registers the display target in association with the display area A2 in which the traveling information G2 is displayed. In the example shown in FIG. 12B, since the operator has selected "vehicle speed", the setting processing unit 713 registers the travel information G2 of "vehicle speed" in association with the display area A2. Note that the operation in which the operator selects one of the display objects from the plurality of display objects is an example of the first setting operation of the present invention.

Next, when the operator returns to the setting screen P2 and selects the setting item K22 corresponding to the travel information G3 (see FIG. 9) in the display area A3 (see FIG. 7) (see FIG. 13A), the display processing unit 711 A setting screen P22 shown in FIG. 13B is displayed. The display processing unit 711 displays, on the setting screen P22, a selection column for selecting OFF of the display of the driving information G3, a selection column for a plurality of display targets, and explanatory information corresponding to each selection column. The plurality of display targets include "vehicle speed", "work width", "lap width", "route azimuth", "vehicle azimuth" (see FIGS. 13B and 13C), and the like. Note that in this embodiment, a plurality of selectable display objects (see FIGS. 12B and 12C) corresponding to information display 1 (display area A2) and a plurality of selectable display objects corresponding to information display 2 (display area A3) are provided. (see FIGS. 13B and 13C) are the same, but in another embodiment, the plurality of selectable display objects may be different in each of the display areas A2 and A3.

Here, the operator selects the "wrap width" setting item K24 and presses the enter button K2 (see FIG. 13B). When the reception processing unit 712 receives the operator's selection operation, the setting processing unit 713 registers the display target in association with the display area A3 in which the travel information G3 is displayed. In the example shown in FIG. 13B, since the operator has selected "lap width", the setting processing unit 713 registers the travel information G3 of "lap width" in association with the display area A3.

Note that when the operator sets the setting item "work history" to "ON" on the setting screen P1 (see FIG. 10A), the setting processing unit 713 displays the traveled area (work history) in the display area A0. Information G0 (see FIG. 9) is associated and registered.

As described above, the setting processing unit 713 sets the display contents of the work screen D1 according to the setting operation by the operator. When the setting processing unit 713 performs the setting process as in the above example, the display processing unit 711 causes the operation display unit 73 to display the work screen D1 shown in FIG. 9 while the work vehicle 10 is automatically traveling. That is, the display processing unit 711 causes the display area A0 to display traveling information G0 including the position of the work vehicle 10, the target route R, point B, and the completed area, and displays the traveling information G1 representing the positional deviation K0 in the display area A1. is displayed, travel information G2 representing the vehicle speed of the work vehicle 10 is displayed in the display area A2, travel information G3 representing the lap width of the work vehicle 10 is displayed in the display area A3, and travel information G3 representing the lap width of the work vehicle 10 is displayed in the display area A4. Driving information G4 indicating that the vehicle is approaching the point is displayed.

In this way, the operation control unit 71 can display different travel information regarding the travel state of the work vehicle 10 in each of the plurality of display areas. Further, the traveling information may include information corresponding to each of a plurality of setting items regarding the traveling state of the work vehicle 10. When the display processing unit 711 receives an operation to select one of the plurality of setting items from the operator, the display processing unit 711 displays driving information corresponding to the selected setting item in the display area.

As another embodiment, the operation control unit 71 selects, for example, "information display 1" (display area A2) so that the display contents of the travel information G2 and the travel information G3 (see FIG. 9) are not the same. The selected setting items (see FIG. 12B) may be configured such that selection operations are not accepted on the setting screen P22 (see FIG. 13B) of "information display 2" (display area A3). For example, when the operator selects "vehicle speed" on the setting screen P21 shown in FIG. 12B, the operation control unit 71 hides or displays the "vehicle speed" setting item on the setting screen P22 shown in FIG. 13B.

Furthermore, as another embodiment, the operation control unit 71 may display the setting item selected in FIG. 12B in an identifiable manner, for example, on the setting screen P22 shown in FIG. 13B. For example, when the operator selects "vehicle speed" on the setting screen P21 shown in FIG. 12B, the operation control unit 71 adds identification information ("selected") to the setting item "vehicle speed" on the setting screen P22 shown in FIG. 13B. messages, etc.).

[Operation support processing]
Hereinafter, an example of the operation support process executed by the operation control unit 71 of the operation device 17 will be described with reference to FIG. 14. Note that the present invention relates to an invention of an operation support method in which the operation device 17 executes a part or all of the operation support process, or an operation support method for causing the operation device 17 to execute a part or all of the operation support method. It can be viewed as an invention of programming. Further, one or more processors may execute the operation support processing.

In step S1, the operation control unit 71 determines whether an instruction to start a setting operation has been received from the operator. For example, when setting travel information to be displayed on the work screen D1, the operator selects display settings (not shown) on the menu screen. When the operation control unit 71 receives the display setting selection operation (setting start instruction) from the operator (S1: Yes), the operation control unit 71 shifts the process to step S2. The operation control unit 71 waits until it receives the setting start instruction from the operator (S1: No).

In step S2, the operation control unit 71 displays the setting screen P1. For example, the operation control unit 71 causes the operation display unit 73 to display a setting screen P1 shown in FIG. 10A. The setting screen P1 shown in FIG. 10A includes, for example, a setting item K11 for "displacement amount display" corresponding to the positional deviation K0, and a setting item K12 for "operation guide display" corresponding to the guide information (operation guidance information). included.

In step S3, the operation control unit 71 determines whether or not an operation for selecting a setting item has been received from the operator. For example, the operator selects the setting item K11 on the work screen D1 (see FIG. 10A). When the operation control unit 71 receives the selection operation of the setting item from the operator (S3: Yes), the operation control unit 71 moves the process to step S4. The operation control unit 71 waits until it receives an operation to select the setting item from the operator (S3: No).

In step S4, the operation control unit 71 displays a setting screen to be displayed. For example, when the operator selects the setting item K11 on the work screen D1 (see FIG. 10A), the operation control unit 71 displays the setting screen P11 shown in FIG. 10B. The operation control unit 71 displays a selection column for selecting ON/OFF of the display of the positional deviation K0 on the setting screen P11.

In step S5, the operation control unit 71 determines whether an operation for selecting a display target has been received. For example, the operation control unit 71 accepts an operator's selection operation on the setting screen P11 shown in FIG. 10B. When the operation control unit 71 receives the selection operation from the operator (S5: Yes), the operation control unit 71 moves the process to step S6. The operation control unit 71 waits until it receives the selection operation from the operator (S5: No). For example, when the operator desires to display travel information G1 (see FIG. 9) regarding the positional deviation K0 on the work screen D1, the operator selects ON and presses the enter button K2. On the other hand, if the operator does not wish to display the driving information G1 on the work screen D1, he selects OFF and presses the determination button K2.

In step S6, the operation control unit 71 registers setting information. For example, when the operator selects ON on the setting screen P11 shown in FIG. 10B, the operation control unit 71 registers the travel information G1 in association with the display area A1. On the other hand, for example, when the operator selects OFF on the setting screen P11 shown in FIG. 10B, the operation control unit 71 does not associate the travel information with the display area A1, or registers the display area A1 with a non-display flag associated with it. do.

In step S7, the operation control unit 71 determines whether an instruction to end the setting operation has been received from the operator. For example, when the operator performs an operation to start automatic driving on the menu screen, the operation control unit 71 receives an instruction to end the setting operation. When the operation control unit 71 receives the termination instruction from the operator (S7: Yes), it terminates the operation support process. On the other hand, when the operation control unit 71 does not receive the termination instruction from the operator (S7: No), the operation control unit 71 shifts the process to step S2.

For example, when the operator performs an operation to return to the setting screen P1 (S7: No), the operation control unit 71 displays the setting screen P1 (see FIG. 11A) in step S2. When the operator selects the setting item K12 on the setting screen P1 (S3: Yes), the operation control unit 71 displays the setting screen P12 shown in FIG. 11B (S4), and changes the display of driving information G4 (operation guidance information). A selection operation for selecting ON/OFF is accepted (S5). When the operator selects ON on the setting screen P12, the operation control unit 71 registers the travel information G4 in association with the display area A4 (S6).

Further, when the operator performs an operation to return to the setting screen P1 and move to the next page (S7: No), the operation control unit 71 displays the setting screen P2 (see FIG. 12A) (S2). When the operator selects the setting item K21 on the setting screen P2 (S3: Yes), the operation control unit 71 displays the setting screen P21 shown in FIG. 12B (S4) and accepts a selection operation for selecting a display target (S5 ). When the operator selects "vehicle speed" (setting item K23) on the setting screen P21, the operation control unit 71 registers the vehicle speed information (driving information G2) in the display area A2 in association with the vehicle speed information (traveling information G2) (S6).

Further, when the operator performs an operation to return to the setting screen P2 (S7: No), the operation control unit 71 displays the setting screen P2 (see FIG. 13A) in step S2. When the operator selects the setting item K22 on the setting screen P2 (S3: Yes), the operation control unit 71 displays the setting screen P22 shown in FIG. 13B (S4) and accepts a selection operation for selecting a display target (S5). ). When the operator selects "lap width" on the setting screen P22, the operation control unit 71 registers the lap width information (driving information G3) in the display area A3 in association with each other (S6).

When the operator completes the display setting operation for the display areas A0 to A4 (S7: Yes), the operation control unit 71 ends the operation support process. The operation control unit 71 executes the operation support process each time it receives an instruction to start a setting operation from an operator. Further, the operation control unit 71 can execute the operation support process even when the work vehicle 10 is automatically traveling.

As described above, the operating device 17 according to the present embodiment displays the work screen D1 on the operating device 17 used for traveling operation of the work vehicle 10, and displays the work vehicle 10 in the display area A0 included in the work screen D1. The driving information G0 regarding the position of is displayed. In addition, the operating device 17 is configured to display traveling information G0 to G4 regarding the traveling state of the work vehicle 10 in the display areas A1 to A4 included in the work screen D1, and to display traveling information G0 to G4 in the display areas A1 to A4. Switch between settings that do not allow

According to the above configuration, while displaying the traveling information G0 regarding the position of the work vehicle 10, it is possible to switch between displaying and non-displaying the traveling information G1 to G4 that supports the operation of the operator. For example, an inexperienced operator can check the traveling information G1 to G4 while operating the work vehicle 10 by setting the traveling information G1 to G4 to be displayed. For example, an experienced operator can prevent unnecessary information from being displayed while operating the work vehicle 10 by setting the travel information G1 to G4 not to be displayed. Therefore, it becomes possible to improve the convenience of the operating device 17. Note that the travel information G1 to G4 includes at least one of information regarding the travel status of the work vehicle 10, information regarding the work status of the work vehicle 10, and guidance information (operation guidance information).

[Other embodiments]
The invention is not limited to the embodiments described above. Other embodiments of the present invention will be described below.

In the above embodiment, as shown in FIG. 7, display area A2 and display area A3 are set vertically on the left side of work screen D1, and display targets are set individually for display area A2 and display area A3. It is now possible to do so. For this reason, for example, the operator may set "Information Display 1" (display area A2) to "Route Azimuth" on the setting screen P2 of FIGS. 12A and 13A, and set "Information Display 2" (display area A3) to "OFF". ”, the operation control unit 71 causes the display area A2 to display travel information G2 representing the route azimuth corresponding to the current reference line L1, and displays the display area A3 as shown in the work screen D1 of FIG. 15A. Make it invisible. Note that when the operator sets a set azimuth, the operation control unit 71 displays the set azimuth as the route azimuth in the display area A2.

In the case of the above configuration, nothing is displayed in the display area A3, so it becomes an empty space. Therefore, as another embodiment of the present invention, when a display target is set to one of the display areas A2 and A3 and a display target is not set to the other display area ("OFF"), the operation control unit 71 Related information related to the display target may be displayed. For example, when the operator sets the set azimuth angle to be "90 degrees," the operation control unit 71 displays travel information G2 representing the route azimuth angle of "90 degrees" in the display area A2, as shown in FIG. 15B. Travel information G3 representing "270 degrees" indicating the same direction as the route azimuth angle "90 degrees" is displayed in the display area A3. The operator may set the angle "d1" with respect to the reference line L1, or may set the angle "d1+180 degrees" with respect to the set azimuth angle. According to the above configuration, no matter which angle the operator sets, both route azimuths can be displayed, so the operator can understand at a glance whether the settings he or she has set are reflected. be able to. In this way, the operation control unit 71 may change the display content to be displayed in the display area according to the number of display areas.

Further, as shown in FIG. 15C, the operation control unit 71 may set one display area that integrates display areas A2 and A3, and display travel information G5 including related information in the integrated display area. . In this way, the operation control unit 71 may change the display content to be displayed in the display area depending on the size of the display area.

Further, in the above-described embodiment, one display target (information indicating that the work vehicle 10 is approaching the end point) was illustrated as the traveling information G4 (guidance information) corresponding to the display area A4 (FIG. 11B ), the travel information G4 is not limited to this. For example, the operation control unit 71 may display each guide information shown in (a) to (h) in the display area A4, as shown in FIG. 16. For example, when the operator sets the "operation guide display" to "ON" (see FIGS. 11A and 11B), the operation control unit 71 may switch the display target in the display area A4 according to the state of the work vehicle 10. .

For example, when the work vehicle 10 is automatically traveling and approaches the end point (the end of the straight path), the operation control unit 71 displays a message in the display area A4 of the work screen D1 indicating that the work vehicle 10 will soon reach the end point. Display the guidance information (a) indicating.

For example, when the operator generates a straight route (see FIG. 5A), the operation control unit 71 displays guidance information (b), ( Display c).

For example, when the work vehicle 10 satisfies the automatic travel start conditions (see FIG. 5C), the operation control unit 71 prompts the display area A4 of the work screen D1 to issue an instruction to start automatic travel (pressing the AUTO switch). The guide information (d) is displayed (see FIG. 6A).

For example, when the positional accuracy (positioning accuracy) of the work vehicle 10 decreases while the work vehicle 10 is automatically traveling, the operation control unit 71 displays guidance information (e ) is displayed.

Further, for example, when the operator is not seated in the driver's seat on the work vehicle 10, the operation control unit 71 displays guidance information (f) urging the operator to take a seat in the display area A4 of the work screen D1.

For example, when the work vehicle 10 deviates from the target route R during automatic travel, the operation control unit 71 displays guidance information indicating that the work vehicle 10 has deviated from the target route R in the display area A4 of the work screen D1. Display (g).

For example, when the vehicle speed of the work vehicle 10 exceeds the threshold (applicable vehicle speed), the operation control unit 71 displays guidance information (h) indicating that the vehicle speed exceeds the applicable vehicle speed range.

In this way, the operation control unit 71 may switch the display target (guidance information) in the display area A4 according to the state of the work vehicle 10 (setting situation, driving situation, etc.). In another embodiment, the operator may be able to select any one of the guidance information (a) to (h) as a display target to be displayed in the display area A4 on the setting screen.

Note that when displaying the guidance information (a) to (h), the operation control unit 71 may output audio content corresponding to the guidance information (a) to (h). Further, the operation control unit 71 may perform only audio guidance even when the setting item K12 (see FIG. 11B) of "operation guide display" is set to OFF. Further, the operation control unit 71 may be able to switch ON/OFF of the audio guidance.

Further, in the above embodiment, the operator selects the display target on each setting screen (see FIGS. 10 to 13), but in another embodiment, for example, on the work screen D1 shown in FIG. A configuration may be adopted in which display areas A0 to A4 are selected and display targets are set. For example, when the operator selects the display area A2 (touch operation on the touch panel), the operation control unit 71 displays the setting screen P21 (see FIGS. 12B and 12C) corresponding to the display area A2, and allows the operator to select the display target. Accept operations. For example, when the operator selects the display area A3 (touch operation on the touch panel), the operation control unit 71 displays the setting screen P22 (see FIGS. 13B and 13C) corresponding to the display area A3, and the operator selects the display target. Accept selection operations.

Further, in the work screen D1 shown in FIG. 16, the operator may be able to change the positions and ranges of each of the display areas A0 to A4. For example, the operator may be able to select and move a rectangular frame in the display area A2, or change the range of the rectangular frame. In this way, the operator may be able to customize the display position and display range of the travel information G0 to G4.

Further, the operation control unit 71 may change the display content to be displayed in the display area according to the size (range) of the display area. For example, when the display area is narrow, the operation control unit 71 displays a simple version (basic information) of travel information in the display area, and when the display area is wide, the operation control unit 71 displays a detailed version (basic information and related information) of the travel information. Display information in the display area.

Further, as another embodiment of the present invention, for example, when the display areas A2 and A3 are set to non-display (“OFF”), the operation control unit 71 controls the display areas A2 and A3 as shown in FIG. 17A. The traveling information G0 may be displayed (extended display) in the display area A0 corresponding to . Further, for example, when the display areas A1 to A4 are set to non-display (“OFF”), the operation control unit 71 displays travel information in the display area A0 corresponding to the display areas A1 to A4, as shown in FIG. 17B. G0 may be displayed (extended display). In this manner, the operation control unit 71 may change the display content of the traveling information G0 according to the display or non-display settings of the display areas A1 to A4 included in the display area A0. Note that the operation control unit 71 constantly displays (extended display) the driving information G0 in the entire display area A0, and when a display target is set in the display areas A1 to A4, the driving information G1 to G4 is displayed as the driving information G0. It may be displayed in a superimposed manner.

Further, as another embodiment of the present invention, the operation control unit 71 may display guidance information corresponding to an icon image displayed in the display area A5 (see FIG. 7) of the work screen D1. For example, when the operator selects the icon image C2 (touch operation on the touch panel) on the work screen D1 shown in FIG. 17B, the operation control unit 71 selects travel information G4 (( a)) is displayed in the display area A4 (see FIG. 17A). Further, for example, when the operator selects (touch operation) the icon image C3 on the work screen D1 shown in FIG. (e)) is displayed in the display area A4. Further, for example, when the operator selects (touch operation) the icon image C1 on the work screen D1 shown in FIG. Information representing the state (for example, "The setting for starting automatic travel in conjunction with the lowering operation of the elevator lever is ON") is displayed in the display area A4.

Further, as another embodiment of the present invention, the operation control unit 71 may determine the driving information G1 to G4 to be displayed in the display areas A1 to A4 based on setting history information by the operator. For example, the operation control unit 71 gives priority to driving information corresponding to a frequently selected setting item among the setting items selected by the operator in the past and displays it in the display area. Further, when the operator changes a setting item, the operation control unit 71 gives priority to driving information corresponding to the changed setting item and displays it in the display area.

In addition, when the setting is such that the guidance information (driving information G4) is not displayed in the display area A4, the operation control unit 71 switches the setting to display the guidance information when the operator does not perform a necessary operation. Good too. For example, if the operator frequently does not issue an instruction to start driving even though the automatic driving start conditions are met, the operation control unit 71 switches the setting to display the guidance information (driving information G4) in the display area A4. . Furthermore, when the work vehicle 10 during automatic travel has reached the end point but frequently does not perform the end operation, the setting is switched to display the guidance information (traveling information G4) in the display area A4.

The work vehicle 10 of the present invention may be able to travel automatically even when turning. In this case, the target route R includes a straight route and a turning route. Further, in the work vehicle 10, the operator may be able to switch between automatic travel and manual travel when turning. Further, the work vehicle 10 may automatically travel along the target route R without a driver. In this case, the operator may remotely control the operating terminal to instruct the vehicle to start traveling. Further, the operating terminal used for remote control may be the operating device 17 according to the present embodiment, or may include each processing section of the operating device 17.

The operation support system of the present invention may be configured by the operating device 17 alone, or may be configured by a server including each processing unit included in the operating device 17. Further, the operation support system may include a work vehicle 10 including an operation device 17.

1: Automated driving system 10: Work vehicle 11: Vehicle control device 17: Operating device (operating terminal)
71: Operation control section 72: Storage section 73: Operation display section 711: Display processing section (first display processing section, second display processing section)
712: Reception processing unit 713: Setting processing unit A0: Display area (first display area)
A1: Display area (second display area)
A2: Display area (second display area)
A3: Display area (second display area)
A4: Display area (second display area)
A5: Display area (third display area)
C1: Icon image C2: Icon image C3: Icon image H1: Icon image D1: Work screen F: Field G: Traveling information P1: Setting screen P11: Setting screen P12: Setting screen P2: Setting screen P21: Setting screen P22: Setting screen

Claims (12)

Displaying a display screen on an operation terminal used for driving operation of a work vehicle;
Displaying first information regarding the position of the work vehicle in a first display area included in the display screen;
switching between a setting for displaying second information regarding the traveling state of the work vehicle in a second display area included in the display screen and a setting for not displaying the second information in the second display area;
Operational support method to perform. receiving from an operator a first setting operation for setting the second information to be displayed in the second display area or a second setting operation for setting the second information not to be displayed in the second display area;
When the first setting operation is received from the operator, the first information is displayed in the first display area and the second information is displayed in the second display area, and the second information is displayed from the operator. Displaying the first information in the first display area and not displaying the second information in the second display area when a setting operation is accepted;
The operation support method according to claim 1, further comprising performing the following. The second information includes information corresponding to each of a plurality of setting items regarding the running state of the work vehicle,
Displaying the second information corresponding to the selected setting item in the second display area when the first setting operation for selecting one of the plurality of setting items is received from the operator;
The operation support method according to claim 2. The second information includes at least one of information regarding the traveling status of the working vehicle, information regarding the working status of the working vehicle, and operation guidance information.
The operation support method according to claim 2 or 3. The display screen includes a plurality of the second display areas,
The second information, which is different from one another regarding the traveling state of the work vehicle, can be displayed in each of the plurality of second display areas.
The operation support method according to any one of claims 2 to 4. The plurality of second display areas are arranged within the first display area,
The operation support method according to claim 5. displaying the first information at the center of the display screen in the first display area;
displaying the second information on each side of the center of the display screen in the first display area;
The operation support method according to claim 6. The display content of the second information to be displayed in the second display area can be changed according to the number of the second display areas.
The operation support method according to any one of claims 5 to 7. displaying an icon image corresponding to the second information in a third display area included in the display screen;
changing a display mode of the icon image according to a running state of the work vehicle;
The operation support method according to any one of claims 1 to 8. determining the second information to be displayed in the second display area based on setting history information by an operator;
The operation support method according to any one of claims 1 to 9. a first display processing unit that displays a display screen on an operation terminal used for running the work vehicle;
a second display processing unit that displays first information regarding the position of the work vehicle in a first display area included in the display screen;
a setting processing unit that switches between a setting for displaying second information regarding the running state of the work vehicle in a second display area included in the display screen and a setting for not displaying the second information in the second display area;
An operation support system equipped with Displaying a display screen on an operation terminal used for driving operation of a work vehicle;
Displaying first information regarding the position of the work vehicle in a first display area included in the display screen;
switching between a setting for displaying second information regarding the traveling state of the work vehicle in a second display area included in the display screen and a setting for not displaying the second information in the second display area;
An operation support program that causes one or more processors to execute